Motor Error Detection

Listen for Motor Health

The program checks in a defined interval, whether a defined motor is healthy or not. The result is then published over ROS (topics are specified here).

  • Method:
void listenForMotorHealth(ObjectID motorId, NotificationInterval durationOfValidity = 5000, NotificationLevel logLevel = WARNING_LEVEL)

#include "roboy_error_detection/roboyErrorDetection.hpp"

// [...]

int main(int argc, char* argv[])
{
    // [...]
    ros::NodeHandlePtr nh = ros::NodeHandlePtr(new ros::NodeHandle);
    RoboyErrorDetection handler(nh);

    // setup for listening to motor1 health
    ObjectID MOTOR_ID = 123;
    handler.listenForMotorHealth(MOTOR_ID);

    return 0;
}

Example taken from the main.cpp file

Listen if Motor is Dead

The program checks in a defined interval, whether a defined motor is dead (does not respond) or not. Only if the motor is dead, the result is then published over ROS (topics are specified here).

  • Method:
void listenIfMotorIsDead(ObjectID motorId, NotificationInterval durationOfValidity = 5000, NotificationLevel logLevel = WARNING_LEVEL)

#include "roboy_error_detection/roboyErrorDetection.hpp"

// [...]

int main(int argc, char* argv[])
{
    // [...]
    ros::NodeHandlePtr nh = ros::NodeHandlePtr(new ros::NodeHandle);
    RoboyErrorDetection handler(nh);

    // setup for listening to motor1 health
    ObjectID MOTOR_ID = 123;
    handler.listenIfMotorIsDead(MOTOR_ID);

    return 0;
}

Example taken from the main_motor_dead_check.cpp file

Listen if Motor is Alive

The program checks in a defined interval, whether a defined motor is alive (does respond) or not. Only if the motor is alive, the result is then published over ROS (topics are specified here).

  • Method:
void listenForMotorHealth(ObjectID motorId, NotificationInterval durationOfValidity = 5000, NotificationLevel logLevel = WARNING_LEVEL)

#include "roboy_error_detection/roboyErrorDetection.hpp"

// [...]

int main(int argc, char* argv[])
{
    // [...]
    ros::NodeHandlePtr nh = ros::NodeHandlePtr(new ros::NodeHandle);
    RoboyErrorDetection handler(nh);

    // setup for listening to motor1 health
    ObjectID MOTOR_ID = 123;
    handler.listenForMotorHealth(MOTOR_ID);

    return 0;
}

Example taken from the main_motor_alive_check.cpp file

Listen for Motor Tendon Inconsistency

It is possible that a motor is moving but the tendon does not. If this happen, then something went wrong (e.g. broken tendon). Therefore, this method was introduced and now, you have the possibility to get notified if this happen.
Thereby, the system checks whether the motor velocity is not zero (=> motor is running) and if the tacho is in the interval ]minTacho,maxTacho[ (=> tendon is moving).

  • Method:
void listenForMotorTendonInconsistence(ObjectID motorId, ObjectID jointId, tacho minTacho, tacho maxTacho, NotificationInterval durationOfValidity = 5000, NotificationLevel logLevel = WARNING_LEVEL)
  • Arguments
Name Type Default Required? Description
motorId ObjectID - true motorId is the motor id, which identifies the motor you want to observe
jointId ObjectID - true jointId is the joint id, which measures the tendon activity of the to be observed motor
minTacho tacho - true minimum tacho valure of a running tendon
maxTacho tacho - true maximum tacho value of a running tendon
durationOfValidity NotificationInterval 5000 false Minimum time in milliseconds from one health check to the motor inconsistency check of this joint
logLevel DEBUG_LEVEL, INFO_LEVEL, WARNING_LEVEL, ERROR_LEVEL, DANGER_LEVEL WARNING_LEVEL false Defines the system notification level, which also determines over which topic the health check message is published (see all log levels)
  • Output Topics:

General format depending on the log level:

Modified parameters:

name condition Description
msg - message string list
code - MOTOR_IS_RUNNING_BUT_TENDON_NOT_NOTIFICATION
object - same as input parameter motorId - ID of to be observed object: same as motorId parameter
  • Example:
#include "roboy_error_detection/roboyErrorDetection.hpp"

// [...]

int main(int argc, char* argv[])
{
   // [...]
   ros::NodeHandlePtr nh = ros::NodeHandlePtr(new ros::NodeHandle);
   RoboyErrorDetection handler(nh);

   ObjectID motorId = 123;
   ObjectID jointId = 321;
   tacho minTacho = 0 + 1;
   tacho maxTacho = 1023 - 1;
   handler.listenForMotorTendonInconsistence(motorId, jointId, minTacho, maxTacho);

   return 0;
}

Example taken from the main_motor_tendon_inconsistency.cpp file